Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable
Authors: Willem Esterhuizen, Jean Lévine, Automatica, Vol. 73, pp. 248-255, November 2016 DOI: 10.1016/j.automatica.2016.07.001
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable vanishes. We present a direct construction of the boundary of the potentially safe set in which there always exists a control such that the cable never goes slack. A discussion on the dependence of this set with respect to the pendulum and cart masses is then sketched.
BibTeX:
@Article{2017-06-28,
author = {Jean Lévine Willem Esterhuizen},
title = {Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable},
journal = {Automatica},
volume = {73},
number = {},
pages = {248-255},
year = {2016},
}
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable vanishes. We present a direct construction of the boundary of the potentially safe set in which there always exists a control such that the cable never goes slack. A discussion on the dependence of this set with respect to the pendulum and cart masses is then sketched.
BibTeX:
@Article{2017-06-28,
author = {Jean Lévine Willem Esterhuizen},
title = {Barriers and Potentially Safe Sets in Hybrid Systems: Pendulum with Non-Rigid Cable},
journal = {Automatica},
volume = {73},
number = {},
pages = {248-255},
year = {2016},
}